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 * Copyright (c) 2024, Texas Instruments Incorporated
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 *    from this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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 */


#include "focConfig.h"
#include "rotorAlignConfig.h"
#include "openLoopConfig.h"
#include "closeLoopConfig.h"

#include "stallDetectConfig.h"
#include "estimConfig.h"
#include "currentControlConfig.h"

void focConfig(UNIVERSAL_FOC_APPLICATION_T *pMC_App)
{
    FOC_T *pFOC = &(pMC_App->foc);

    /* Set up feedbacks and motor Inputs */
    pFOC->pIabc = &(pMC_App->motorInputs.current.iabc);

    pFOC->pVdc = &(pMC_App->motorInputs.voltage.vdcFilt);

    pFOC->pInvVdc = &(pMC_App->motorInputs.voltage.invVdcFilt);

    /* Configure Current PI parameters */
    currentControlConfig(pMC_App);

    /* Configure Estimator Parameters */
    estimConfig(pMC_App);

    /* Configure Align Parameters */
    rotorAlignConfig(pMC_App);

    /* Configure Open Loop Parameters */
    openLoopConfig(pMC_App);

    /* Configure Close Loop Parameters */
    closeLoopConfig(pMC_App);

    /* Configure stall detection parameters */
    stallDetectConfig(pMC_App);

}

